TY - GEN
T1 - Design and implementation of DSP and FPGA-based robust visual servoing control of an inverted pendulum
AU - Tu, Yi Wei
AU - Ho, Ming-Tzu
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness to model uncertainty, and to attenuate disturbance and sensor noise, the design of the stabilizing controller is formulated as a problem of the mixed H2/H∞ control, which is then solved using the linear matrix inequality (LMI) approach. The designed control law is implemented on a digital signal processor (DSP). The effectiveness of the controller and the FPGA-based image co-processor is verified through experimental studies. The experimental results show that the designed system is able to robustly control an inverted pendulum in real-time.
AB - This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness to model uncertainty, and to attenuate disturbance and sensor noise, the design of the stabilizing controller is formulated as a problem of the mixed H2/H∞ control, which is then solved using the linear matrix inequality (LMI) approach. The designed control law is implemented on a digital signal processor (DSP). The effectiveness of the controller and the FPGA-based image co-processor is verified through experimental studies. The experimental results show that the designed system is able to robustly control an inverted pendulum in real-time.
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U2 - 10.1109/CCA.2010.5611335
DO - 10.1109/CCA.2010.5611335
M3 - Conference contribution
AN - SCOPUS:78649440023
SN - 9781424453627
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 83
EP - 88
BT - 2010 IEEE International Conference on Control Applications, CCA 2010
T2 - 2010 IEEE International Conference on Control Applications, CCA 2010
Y2 - 8 September 2010 through 10 September 2010
ER -